Kinetic penetrator with a retrieval tether

ABSTRACT

A retrievable kinetic penetrator includes a tubular body having a first end and a second end, a nose coupled to the first end of the tubular body, and a retrieval system. The nose is configured to penetrate a ground surface and subsurface materials of a subterranean ground volume. The retrieval system includes a tether coupled to the tubular body and is configured to facilitate recovery of the tubular body from the subterranean ground volume.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is related to U.S. application Ser. No. 13/973,668,titled “Kinetic Penetrator Beacons for Multistatic Geophysical Sensing,”filed Aug. 22, 2013, which is incorporated herein by reference in itsentirety.

BACKGROUND

Mining is the process of removing a desired in-ground material ormineral. Such materials may include precious metals, oil, gas, and othermined substances. Mining operations often remove and refine aggregateore from remote locations. This removal and refinement process requiresmoving heavy machinery and ore processing equipment to the remotelocation. Moving heavy equipment is costly, labor intensive, timeconsuming, and can adversely affect the environment. In order to promoteefficiency while protecting the environment, mining operations firstexplore an area to determine the potential for the presence ofaggregate, oil, gas, or other target substances.

Traditional methods for exploring an area of land include trenching andsample drilling. Sample drilling involves drilling an array of holes anddetermining the amount of aggregate ore within each sample. From thisarray of samples, prospectors can determine what may be potentiallyefficient locations to place the heavy machinery and ore processingequipment. However, drilling an array of holes requires moving thedrilling equipment through the mining area and physically removing aground sample. Obstructing materials such as trees, brush, or rocksoften must be cleared before equipment may be placed in a desiredlocation. This process may be harmful to the environment and requiresthe labor-intensive processes of clearing obstructions and positioningdrilling equipment.

Other traditional methods for exploring an area of land include takingground conductivity measurements and using surface-level groundpenetrating radar. Ground conductivity measurements may be taken from anaerial vehicle by driving a coil into the ground and measuring theresponse to a low frequency output. However, this measurement techniquemay be complicated by variations within the ground water content. Groundpenetrating radar involves searching for aggregate, oil, gas, or othertarget substances by moving a radar device over an area. However, thesesystems often include a limited penetration distance below a groundsurface and may prove difficult to calibrate. Even with such othermethods, ground samples are typically taken to verify the presence ofaggregate, oil, gas, or other target substances.

SUMMARY

One exemplary embodiment relates to a retrievable kinetic penetrator.The kinetic penetrator includes a tubular body having a first end and asecond end, a nose coupled to the first end of the tubular body, and aretrieval system. The nose is configured to penetrate a ground surfaceand subsurface materials of a subterranean ground volume. The retrievalsystem includes a tether coupled to the tubular body and is configuredto facilitate recovery of the tubular body from the subterranean groundvolume.

Another exemplary embodiment relates to a retrievable kinetic penetratorthat includes a tubular body having a first end and a second end, a nosecoupled to the first end of the tubular body, a retrievable componentpositioned within the tubular body, and a retrieval system. The nose isconfigured to penetrate a ground surface and subsurface materials of asubterranean ground volume. The retrieval system includes a tethercoupled to the retrievable component and is configured to facilitaterecovery of the retrievable component from the tubular body.

Still another exemplary embodiment relates to a kinetic penetratorsystem that includes a tubular body having a first end and a second end,a nose coupled to the first end of the tubular body, a retrieval systemincluding a tether coupled to at least one of the tubular body and aretrievable component, and a protective sheath. The nose is configuredto penetrate a ground surface and subsurface materials of a subterraneanground volume. The protective sheath has an inner volume configured toreceive the tether and an outer surface configured to reduce theprevalence of subterranean in-fill.

Yet another exemplary embodiment relates to a method for studying anunderground volume. The method includes providing a kinetic penetratorincluding a tubular body and a nose coupled to a first end of thetubular body, the nose being configured to penetrate a ground surfaceand subsurface materials to a subterranean ground volume. The methodalso includes providing a retrieval system coupled to at least one ofthe tubular body and a retrievable component, the retrieval systemincluding a tether. The method further includes retrieving at least oneof the tubular body and the retrievable component with the retrievalsystem by pulling on the tether.

The invention is capable of other embodiments and of being carried outin various ways. Alternative exemplary embodiments relate to otherfeatures and combinations of features as may be generally recited in theclaims.

BRIEF DESCRIPTION OF THE FIGURES

The invention will become more fully understood from the followingdetailed description taken in conjunction with the accompanying drawingswherein like reference numerals refer to like elements, in which:

FIG. 1 is an elevation view of a ground surface and a subterraneanground volume;

FIG. 2 is an elevation view of a kinetic penetrator;

FIG. 3 is an elevation view of a kinetic penetrator coupled to a vehicleabove a ground surface;

FIG. 4 is an elevation view of a kinetic penetrator supported above aground surface;

FIG. 5 is an elevation view of a kinetic penetrator that is initiallypositioned above a ground surface and thereafter positioned below aground surface;

FIG. 6 is an elevation view of a kinetic penetrator nose having aplurality of extractors;

FIG. 7 is an elevation view of a kinetic penetrator having a pluralityof extractors coupled to a body portion;

FIG. 8 is an elevation view of an extractor coupled to the side of atubular body;

FIG. 9 is an elevation view of extractors and compartments coupled to atubular body;

FIG. 10 is an elevation view of a rotatable compartment system for akinetic penetrator;

FIG. 11 is an elevation view of a kinetic penetrator having a retrievaltether;

FIG. 12 is an elevation view of a kinetic penetrator having a retrievaltether coupled to a surface drag device;

FIG. 13 is an elevation view of a kinetic penetrator having a deployableretrieval tether;

FIG. 14 is an elevation view of a kinetic penetrator having a deployablemodule;

FIGS. 15-17 are elevation views of a kinetic penetrator having adeployable protective sheath;

FIG. 18 is an elevation view of a kinetic penetrator having a sensingelement;

FIG. 19 is a side plan view of a remote sensing system and a pluralityof kinetic penetrators;

FIG. 20 is a top plan view of a remote sensing system and a plurality ofkinetic penetrator shafts; and

FIG. 21 is a side plan view of a kinetic penetrator including aplurality of sensing elements.

DETAILED DESCRIPTION

Before turning to the figures, which illustrate the embodiments indetail, it should be understood that the application is not limited tothe details or methodology set forth in the description or illustratedin the figures. It should also be understood that the terminology is forthe purpose of description only and should not be regarded as limiting.

Kinetic penetrators may remove subterranean samples for laterobservation. A tether may be coupled to the kinetic penetrator tofacilitate the recovery of either samples or the kinetic penetratoritself. Such a system is intended to improve the efficiency of landprospecting and decreases the use of heavy machinery to clear awayobstructions, such as trees, in order to drill or trench a particulararea to confirm the presence of minerals or materials.

Further, kinetic penetrators may include a plurality of electronicdevices (e.g., sensors, transmitters, receivers, etc.). Such electronicdevices may relay data associated with below-ground-surfaceobservations. Moreover, the electronic devices may be utilized toimprove the performance of ground penetrating radar systems. Performanceenhancements may include increasing the penetration depth and providinga reference to facilitate calibration, among other improvements.Electronic devices may be used to directly evaluate the undergroundmaterial.

Referring to FIG. 1, a portion of land that may contain aggregate, oil,gas, or other target substances is shown, according to one embodiment.Such a portion of land may contain various features that are relevant toa mining operation or mining exploration (e.g., rock interfaces, faultlines, cavities, etc.). As shown in FIG. 1, the portion of land includesa subterranean interface, shown as ground surface 2. According to oneembodiment, ground surface 2 is a surface between air and a subterraneanground volume, shown as underground volume 4. According to oneembodiment, ground surface 2 may be the interface between anotherenvironment (e.g., water, space, etc.) and another underground volume(e.g., an oceanic surface, a lunar surface, etc.).

As shown in FIG. 1, underground volume 4 includes an upper layer ofmaterial, shown as overburden layer 5, and a lower layer of material,shown as caprock layer 6. According to one embodiment, overburden layer5 includes less desirable materials that are removed before miningoperations. According to an alternative embodiment, overburden layer 5may itself include aggregate, oil, gas, or other target substances. Asshown in FIG. 1, overburden layer 5 contacts caprock layer 6 at aninterface, shown as transition 7. Transition 7 may occur at variousdepths and may indicate the point where various different types ofmaterial (e.g., rock, sand, etc.) meet. Such a transition 7 may alsooccur at an interface between various types of rock having differentconductivity or electromagnetic properties.

According to the embodiment shown in FIG. 1, caprock layer 6 alsoincludes a vein, shown as fault line 8. Fault line 8 may includenaturally occurring crevices within a layer of underground volume 4 thatindicate or suggest a location where aggregate, oil, gas, or othertarget substances may be present. As shown in FIG. 1, caprock layer 6also includes a cavity, shown as void 9. According to variousalternative embodiments, the underground volume may include more orfewer layers, the upper layer may itself include other interfaces,veins, or cavities, or the lower layer of material may include more orfewer interfaces, veins, or cavities.

Referring next to the embodiment shown in FIG. 2, a mining operation mayneed to explore a portion of an underground volume and determine theprevalence of aggregate, oil, gas, or other target substances. Suchexploration may be accomplished through the use of a ground penetrator,shown as kinetic penetrator 10. As shown in FIG. 2, kinetic penetrator10 is an elongated device capable of penetrating below a ground surfaceand into an underground volume to a distance substantially greater thanits length and propelled primarily by its own inertia. According to oneembodiment, kinetic penetrator 10 includes a structural member, shown asbody 30. As shown in FIG. 2, body 30 is an elongated tubular memberhaving a circular cross section. In one embodiment, body 30 is eightinches in diameter and thirty feet long. According to alternativeembodiments, the diameter and length of body 30 may be varied to moreappropriately fit a particular application having particular penetrationrequirements. According to still other alternative embodiments, body 30has a different cross-sectional shape (e.g., rectangular, square, etc.).

According to one embodiment, body 30 is manufactured from a metal (e.g.,steel, a steel alloy, depleted uranium, tungsten etc.). Body 30 may bean essentially solid cylinder or a hollow tube (e.g., a section ofdrill-pipe). Ideally, the metal used for the body has a high ultimateand yield strength and toughness value that enables the kineticpenetrator to withstand a high-velocity impact with a ground surface.However, body 30 may have various cross sectional shapes orconfigurations and may include a single unitary design or varioussubcomponents coupled (e.g., welded, fastened, adhesively secured, etc.)together.

Referring still to the embodiment shown in FIG. 2, kinetic penetrator 10also includes a nose, shown as nose 20. As shown in FIG. 2, nose 20 isconically shaped and includes a proximal end 22 and a distal end 24.According to one embodiment, proximal end 22 of nose 20 has a circularcross section with a diameter equal to the diameter of body 30, anddistal end 24 is shaped into a point having a radius that is less thanhalf the diameter of proximal end 22. According to an alternativeembodiment, proximal end 22 and distal end 24 of nose 20 may havedifferent shapes. As shown in FIG. 2, nose 20 transitions betweenproximal end 22 and distal end 24 linearly. According to an alternativeembodiment, nose 20 may transition between proximal end 22 and distalend 24 non-linearly (e.g., to give nose 20 a different shape). Nose 20may be coupled to (e.g., welded, fastened, adhesively secured, pressfit, etc.) or integrally formed with an end of body 30. According tovarious embodiments, nose 20 may be manufactured from a material havinga high toughness and hardness (e.g., steel, a steel alloy, depleteduranium, tungsten, a material having a toughness and hardness greaterthan the ground material or rock, etc.), a ceramic, the same material asbody 30, or another suitable material. Such materials may allow kineticpenetrator 10 to withstand the high-velocity impact with a groundsurface and to penetrate the subsurface material.

According to the embodiment shown in FIG. 2, kinetic penetrator 10 has aguidance system that includes a plurality of aerodynamic surfaces, shownas fins 40. Fins 40 may facilitate the movement of kinetic penetrator 10through the air towards a desired point on the ground surface byinducing rotational movement of kinetic penetrator 10 about an axisextending along the length of body 30 or may prevent body 30 fromtumbling (i.e. rotating about an axis perpendicular to the length ofbody 30). As shown in FIG. 2, kinetic penetrator 10 includes three fins40 coupled to an end of the body 30. According to an alternativeembodiment, kinetic penetrator 10 does not include fins 40, includesmore than three fins 40, or includes fewer than three fins 40. As shownin FIG. 2, fins 40 are a plurality of blades extending from an outersurface of body 30.

According to one embodiment, fins 40 are rigidly coupled (e.g., welded,fastened, adhesively secured, etc.) to body 30 thereby forming a passiveguidance system. Such a passive guidance system may facilitate themovement of kinetic penetrator 10 without adjusting or moving fins 40.According to an alternative embodiment, fins 40 are movably coupled tobody 30. A kinetic penetrator 10 having movable fins 40 may furtherinclude a driver configured to move at least a portion of fins 40relative to the outer surface of body 30. Such a driver may move fins 40in response to a signal (e.g., from a positioning system, from anoperator guiding the kinetic penetrator 10, etc.) indicating that thekinetic penetrator 10 is deviating from a preferred course.

Referring still to the embodiment shown in FIG. 2, kinetic penetrator 10also includes a system configured to increase the velocity of kineticpenetrator 10, shown as thruster 50. According to one embodiment,thruster 50 is a solid fueled rocket coupled to an end of body 30opposite nose 20. Such a thruster 50 may increase the velocity ofkinetic penetrator 10 thereby allowing kinetic penetrator 10 to travelto a greater depth below a ground surface. According to an alternativeembodiment, thruster 50 may provide the primary motive force to kineticpenetrator 10 and facilitate the transmission of kinetic penetrator 10from one location to another (e.g., move kinetic penetrator 10 along anarced trajectory). According to still another alternative embodiment,thruster 50 is movable relative to body 30 to direct (e.g., steer,manipulate, affect, etc.) the movement of kinetic penetrator 10.

According to the embodiment shown in FIG. 3, kinetic penetrator 10 isinitially located above ground surface 2. As shown in FIG. 2, kineticpenetrator 10 is transported by a vehicle, shown as aerial vehicle 60 inan elevated position relative to ground surface 2. Such an aerialvehicle 60 may include an airplane, a helicopter, a balloon, or anothertype of vehicle capable of transporting kinetic penetrator 10 ataltitude. According to one embodiment, kinetic penetrator 10 is releasedfrom aerial vehicle 60 and allowed to move (e.g., fall, travel, etc.)towards ground surface 2.

The movement of kinetic penetrator 10 may be facilitated with a passiveguidance system or with an active guidance system, shown as instrument120. According to one embodiment, instrument 120 is coupled to one ofmovable fins 40 or a thruster. Such systems may influence the flightpath of kinetic penetrator 10 as it travels through the atmosphere toimprove accuracy (i.e. the ability of the kinetic penetrator 10 to enterthe ground surface at a specified location) and to ensure that thepenetrator enters the ground with a velocity parallel to itslongitudinal axis thereby reducing torques on the kinetic penetrator 10as it enters the ground and travels through the underground volume. Athruster may also be used to increase the flight speed of the kineticpenetrator thereby increasing the penetration depth of the kineticpenetrator. According to various alternative embodiments, instrument 120may be a sonar guidance system, a laser-guidance system, a radarguidance system, an infrared guidance system, a global positioningsystem, an inertial guidance system, or any other system configured todirect kinetic penetrator 10. A post-impact guidance system 122 maymeasure the motion of the kinetic penetrator 10 as it travels throughunderground volume 4, and may in some embodiments direct the motion ofthe kinetic penetrator 10 through the underground volume. Such directionmay occur by shifting the nose relative to the body or by extending abar or other structure outward from the body on one side, among otheralternatives. A transmitter (e.g., a laser transmitter) may interactwith a sensor on the body to ensure that the body travels through theground volume along a preferred path (e.g., straight down). According toone embodiment, instrument 120 also includes a tracker configured toassist in locating the penetrator after deployment. By way of example,the tracker may be a homing device or a transmitter capable of relayingthe latitude and longitude coordinates of the penetrator.

Referring next to the alternative embodiment shown in FIG. 4, kineticpenetrator 10 is initially supported above ground surface 2. A kineticpenetrator 10 supported above ground surface 2 may be preferred wherereleasing kinetic penetrator 10 from a vehicle is not practical (e.g.,due to adverse weather conditions, due to an increased cost, etc.). Asshown in FIG. 4, kinetic penetrator 10 includes thruster 50 coupled toan end of body 30 opposite nose 20. According to one embodiment,thruster 50 accelerates kinetic penetrator 10 to a high velocity (e.g.,more than three hundred meters per second, etc.) before body 30penetrates ground surface 2. In some embodiments, thruster 50 continuesto accelerate kinetic penetrator 10 after body 30 penetrates groundsurface 2 (e.g., until body 30 interacts with a hard subterraneanmaterial). According to an alternative embodiment, kinetic penetrator 10may include another system capable of moving (e.g., propelling, driving,etc.) kinetic penetrator 10 below ground surface 2.

According to the embodiment shown in FIG. 4, one or more guidancestructures, shown as supports 55, are positioned alongside kineticpenetrator 10. As shown in FIG. 4, supports 55 include variousstructural members arranged to support kinetic penetrator 10 in anupright position. Supports 55 may interface with a support structure(e.g., a derrick, a crane, etc.), shown as structure 56. Such an uprightposition may be an orientation where the body 30 of kinetic penetrator10 is perpendicular to ground surface 2. According to an alternativeembodiment, the body 30 of kinetic penetrator 10 may be oriented at adifferent angle relative to ground surface 2 to, by way of example,avoid an undesirable (e.g., dense, non-uniform, etc.) portion ofunderground volume 4. As shown in FIG. 4, supports 55 include aplurality of structural members arranged in a triangular configuration.Such supports 55 include a contacting surface configured to interfacewith (e.g., by having a corresponding shape, etc.) body 30. According toan alternative embodiment, the guidance structure may include a guidesection having an arced or tubular shape that is configured to receiveand support body 30 of kinetic penetrator 10.

According to an alternative embodiment, the kinetic penetrator may bereleased from a land-based object, such as a vehicle, using an attachedthruster. Such a configuration may resemble a traditional short-rangemissile system, but differs in the vehicle configuration (e.g., a veryhigh ratio of length to diameter, very heavy construction, etc.) and inlaunch angle range (e.g., the kinetic penetrator may have a nearlyvertical launch angle). According to still another alternativeembodiment, the kinetic penetrator may be released (e.g., propelled,fired, etc.) with an initial velocity thereby reducing the need for asecondary thruster. Such a configuration may resemble a traditionalmortar, tank-fired round, or a magnetically fired shell. The kineticpenetrator may be surrounded prior to release by a sabot. By way ofexample, the kinetic penetrator may have an outer diameter that isreceived by the sabot. The sabot may be discarded immediately afterrelease, or at any point prior to the entry of the penetrator intocaprock or other hard subsurface material. Vehicles capable of releasingsuch a kinetic penetrator may include a tank or a vessel. Any suchkinetic penetrator may optionally also include a thruster to propel itthrough an atmosphere or to a greater penetration depth below a groundsurface.

Referring next to the embodiment shown in FIG. 5, kinetic penetrator 10is shown as initially supported by aerial vehicle 60 at an elevatedheight, shown as altitude 85. Altitude 85 may vary between five hundredand forty thousand feet above ground surface 2, depending on theparticular application and required penetration depth of kineticpenetrator 10. According to one embodiment, altitude 85 is between tenand twenty thousand feet above ground surface 2.

As shown in FIG. 5, kinetic penetrator 10 is coupled to an underside ofaerial vehicle 60 with a fastener, shown as release system 62. Accordingto one embodiment, release system 62 includes a plurality of supports(e.g., bars, members, wires, etc.) extending downward from the undersideof aerial vehicle 60 and a plurality of fasteners coupled to the body 30of kinetic penetrator 10 with a release mechanism. Such a releasemechanism may be operated remotely (e.g., through the use of anactuator, etc.) or may be operated manually by a user (e.g., with aquick release coupler operated with a wire by a user positioned withinthe aerial vehicle 60).

Referring still to the embodiment shown in FIG. 5, activation of therelease mechanism of release system 62 allows kinetic penetrator 10 toaccelerate towards ground surface 2. According to one embodiment,kinetic penetrator 10 accelerates at approximately 32.2 feet per secondsquared. According to an alternative embodiment, kinetic penetrator 10may accelerate at a lower rate (e.g., due to aerodynamic drag) or mayaccelerate a greater rate (e.g., due to the additional force of athruster). As shown in FIG. 5, kinetic penetrator 10 falls towardsground surface 2 along a route, shown as curved path 80.

Upon impact with ground surface 2, the nose 20 of kinetic penetrator 10forces ground material (e.g., dirt, rocks, organic material, etc.)outward, according to one embodiment. As shown in FIG. 5, kineticpenetrator 10 passes through underground volume 4, and the nose 20continues to force ground material outward. Such movement of kineticpenetrator 10 forms a void, shown as shaft 100. According to oneembodiment, kinetic penetrator 10 continues to decelerate as it travelsthrough underground volume 4 and ultimately comes to rest at a distancebelow ground surface 2, shown as penetration depth 110. According to oneembodiment, penetration depth 110 has a value up to ten times the lengthof kinetic penetrator 10. According to one embodiment, kineticpenetrator 10 reaches a penetration depth 110 of 300 feet within lessthan one second. Also as shown in FIG. 5, portions of kinetic penetrator10 outside of body 30 (e.g., fin assembly 40) may be stripped from body30 by impact with ground surface 2 and remain at or near ground surface2. Alternatively, portions of kinetic penetrator 10 (e.g., fin assembly40) may be deliberately released from body 30 (e.g., by analtimeter-triggered or impact-triggered release mechanism) at a desiredtime either before or after kinetic penetrator 10 strikes ground surface2.

According to the embodiment shown in FIGS. 5-6, kinetic penetrator 10includes a sampling tool, shown as extractor 26. As shown in FIGS. 5-6,extractor 26 is coupled to distal end 24 of nose 20. According to oneembodiment, extractor 26 includes a void, shown as aperture 27,surrounded by an edge, shown as blade 28. Such a blade 28 may beconfigured to cut (i.e. slice, cleave, shave, separate, etc.), ratherthan force aside, ground material as kinetic penetrator 10 travelsthrough underground volume 4. The cutting action of blade 28 mayfacilitate the flow of ground material through aperture 27 and into body30. According to the embodiment shown in FIG. 5, extractor 26 includes asingle aperture 27 and a single blade 28. According to the alternativeembodiment shown in FIG. 6, extractor 26 includes four apertures 27 andblades 28. According to still other alternative embodiments, extractor26 may include more ore fewer apertures 27 and blades 28. As shown inFIGS. 5-6, apertures 27 and blades 28 are circularly shaped. Accordingto various alternative embodiments, apertures 27 and blades 28 may havea rectangular, oval, or other suitable shape.

According to the embodiment shown in FIGS. 5-6, extractor 26 cutsthrough ground material due to the force exerted on blade 28 as kineticpenetrator 10 impacts ground surface 2. According to an alternativeembodiment, extractor 26 may include a drill system having a spinningblade (i.e. bit, auger, etc.) that allows kinetic penetrator 10 toachieve a greater penetration depth 110. Such a drill system may beconfigured to operate after kinetic penetrator 10 comes to rest or askinetic penetrator 10 is passing through underground volume 4 and may becontrolled by a processor. In some embodiments, kinetic penetrator 10may itself rotate around its long axis, either for stability or toenhance the cutting action of extractor 26.

According to the alternative embodiment shown in FIGS. 7-8, kineticpenetrator 10 includes a plurality of sampling scoops (e.g., sidescoops, etc.), shown as extractors 200, positioned along body 30. Asshown in FIG. 7, kinetic penetrator 10 includes two extractors 200.According to an alternative embodiment, kinetic penetrator 10 mayinclude more or fewer extractors 200 positioned in various locations(e.g., on a surface of nose 20, on a different portion of body 30,etc.). Such extractors 200 are preferably positioned uniformly aroundthe periphery of kinetic penetrator 10. By way of example, uniformlypositioning extractors 200 may facilitate the desired movement (e.g.,straight down, at a preferred angle, etc.) of kinetic penetrator 10through underground volume 4.

According to the embodiment shown in FIGS. 7-8, extractors 200 include avoid, shown as aperture 227, surrounded by an edge, shown as blade 228.According to one embodiment, extractors 200 include a panel, shown ashousing 202, rotatably coupled to body 30 with a pivot, shown as hinge205. Such a housing 202 may rotate outward from body 30 upon impact orat a preferred distance below ground surface 2 to expose blade 228. Onceexposed, blade 228 may cut (i.e. slice, cleave, shave, separate, etc.)ground material thereby allowing it to flow through aperture 227 andinto body 30. According to an alternative embodiment, extractor 200includes an aperture facing upward toward a ground surface. Such aconfiguration may allow for the capture and examination of in-fillground material.

According to the embodiment shown in FIG. 8, kinetic penetrator 10includes a processing circuit, shown as control system 210. Such acontrol system 210 may be configured to operate the extractors 200between a closed position where the extractors 200 are coplanar (i.e.flush) with the body 30, and an open position, where the aperture 227 isable to receive a sample removed by the blade 228. As shown in FIG. 8,control system 210 is electronically controlled and coupled to a driver,shown as actuator 215. According to one embodiment, actuator 215 iscoupled to body 30 and housing 202 and operates to open or closeextractor 200.

According to various alternative embodiments, control system 210 may beoperated hydraulically or pneumatically and may interact with a variousknown types of actuators (e.g., rotational actuators, linear actuators,etc.) that may themselves be hydraulic, pyrotechnic, pneumatic, orelectric, among other known types of actuators. According to yet anotheralternative embodiment, control system 210 may be impact-actuated,actuated based on a timer, remote controlled, or controlled using acombination of these or other known systems. By way of example, controlsystem 210 may include an accelerometer and open extractor 200 uponimpact with a ground surface, or an operator may selectively pre-programcontrol system 210 to open extractor 200 in order to obtain samples(e.g., at a desired depth beneath a ground surface, a desired time afterimpact, etc.). According to still another alternative embodiment,housing 202 extends past an outer surface of body 30 such that itrotates outward about hinge 205 after catching upon (i.e. interactingwith, engaging, etc.) ground material upon impact. According to stillanother alternative embodiment, housing 202 may extend linearly ratherthan rotate outward from body 30. According to one embodiment, kineticpenetrator 10 includes extractor 26 and at least one extractor 200.According to various alternative embodiments, kinetic penetrator 10 mayinclude only extractor 26, an extractor located on another portion ofnose 20 or body 30, only extractors 200 without extractor 26, or neitherextractor 26 or extractors 200.

Referring next to the embodiment shown in FIG. 9, kinetic penetrator 10includes a storage volume, shown as compartment 160. As shown in FIG. 9,compartment 160 is a tubular structure configured to store a portion ofground material that flows through aperture 27. Storage of groundmaterial may be beneficial for the exploration of a portion of land. Byway of example, knowing the geological composition of ground material ata specific depth may allow miners to determine whether to conductfurther studies or may suggest the presence of aggregate, oil, gas, oranother composition. According to an alternative embodiment, compartment160 is a flexible tubular system (i.e. a sock design, a plurality oftelescoping tubes, a corrugated straw design, etc.) that extends asground material enters compartment 160. Such a compartment 160 may havea total, extended length greater than the length of body 30.

According to one embodiment, compartment 160 is removably coupled tovarious components of kinetic penetrator 10. As shown in FIG. 9,compartment 160 is coupled with aperture 27 of extractor 26 andpositioned along a longitudinal axis of body 30. According to oneembodiment, extractor 26 and compartment 160 are both oriented along acenterline of body 30. According to an alternative embodiment,compartment 160 may be offset from the centerline of body 30 and coupledto aperture 27 with, by way of example, an angled or curved tubularsection.

Referring still to the embodiment shown in FIG. 9, kinetic penetrator 10includes extractor 200 and a second storage volume, shown as secondcompartment 165. Second compartment 165 may be removably coupled tovarious components of kinetic penetrator 10. As shown in FIG. 9, secondcompartment 165 is tubular and coupled to a sidewall of body 30.According to an alternative embodiment, kinetic penetrator 10 mayinclude more storage volumes (e.g., similarly coupled to additionalextractors, etc.) or may include fewer storage volumes. As shown in FIG.9, second compartment 165 is coupled to aperture 227 of extractor 200such that ground material flows through aperture 227 and into secondcompartment 165.

According to the embodiment shown in FIG. 9, extractor 26 includes acover, shown as door 29, configured to selectively seal aperture 27thereby preventing the flow of material into compartment 160. Such adoor 29 may allow an operator to selectively collect samples of groundmaterial at one or more preferred depths below a ground surface. Asshown in FIG. 9, door 29 is hinged to a portion of blade 28. Accordingto an alternative embodiment, door 29 may rotate or slide to exposeaperture 27 and allow for the flow of material into compartment 160.According to still another alternative embodiment, door 29 may remainopen as kinetic penetrator 10 travels through underground volume 4 suchthat ground material passes through compartment 160 and out of body 30through a secondary aperture having a secondary door. Such a secondarydoor may be thereafter closed to facilitate the recovery of only aportion (e.g., the deepest) ground material that entered compartment160.

According to one embodiment, door 29 may be coupled to a processingcircuit, shown as system 190. System 190 configures door 29 in either anopen or a closed orientation or may otherwise manage the position ofdoor 29. According to one embodiment, system 190 includes anelectrically powered actuation mechanism. According to alternativeembodiments, system 190 may include an explosively, hydraulically, orpneumatically powered actuation mechanism. As shown in FIG. 9, system190 is configured to selectively open door 29 upon impact with a groundsurface or at one or more preferred depths. According to one embodiment,system 190 is operated remotely (e.g., by a user, upon receiving asignal, etc.).

According to an alternative embodiment, system 190 includes a timer andopens door 29 a preferred length of time after kinetic penetrator 10 isreleased. According to still another alternative embodiment, system 190includes both an impact-actuated system and a timer such that after thekinetic penetrator 10 impacts a ground surface, the timer starts, andsystem 190 opens door 29 after a preferred length of time. Such controlschemes allow for system 190 to selectively open door 29 therebyallowing for the selective removal of ground material corresponding topreferred depths below a ground surface. While this discussion focusedon a cover disposed proximate aperture 27, it should be understood thatextractors 200 or another aperture (e.g., within the nose of 200 orlocated elsewhere on body 30) may similarly include a cover configuredto selectively seal an aperture.

According to the embodiment shown in FIG. 10, kinetic penetrator 10includes a plurality of storage volumes, shown as compartments 400. Suchcompartments 400 may be removably coupled to various components ofkinetic penetrator 10. As shown in FIG. 10, compartments 400 arearranged in a circular configuration on a support, shown as carriage410. According to one embodiment, carriage 410 is rotated by a driver,shown as rotator 420 that is coupled to a base portion of carriage 410.A plurality of compartments 400 arranged on a carriage 410 may allow forthe collection of samples having a combined length greater than thelength of kinetic penetrator 10.

Referring still to the embodiment shown in FIG. 10, compartment 160extends upwards to the base of carriage 410. A kinetic penetrator 10having a plurality of compartments 400 allows material to flow throughcompartment 160 and into a first compartment 400. Once first compartment400 is full, a processing circuit, shown as sample identifier 500 maysend a signal to rotator 420 to cycle (i.e. rotate, move, translate,etc.) carriage 410 to position an empty compartment 400 proximate theend of compartment 160. This process allows for each compartment 400 toinclude material collected at a different depth and may continue untilall of the compartments 400 are filled or kinetic penetrator 10 stopsmoving through an underground volume.

According to an alternative embodiment, a plurality of compartments maybe stationary within body 30. Such a configuration may also allow forthe acquisition of multiple samples corresponding to different depths ormultiple samples taken at preferred depths. According to one embodiment,the operation of several extractors and covers may be controlled (e.g.,timed, etc.) to open at various depths and place samples in differentcompartments initially. According to an alternative embodiment, a tubeproximate the extractor may move (e.g., rotate, translate, etc.) tofacilitate the filling of various stationary compartments. Such a systemmay also involve an identifier (e.g., time-varying paint system, etc.)to associate the various samples with a corresponding depth.

According to one embodiment, the various storage volumes of kineticpenetrator 10 include an identification system to differentiate betweenthe various samples taken at different depths or between the samplestaken by different extractors. Such an identification system may becoupled to one of the compartments, the extractor, or another componentof kinetic penetrator 10. According to one embodiment, theidentification system is a compartment system having inner surfaces ofthe tubes coated with a dye (e.g., paint, powdered product, etc.).According to an alternative embodiment, the various storage volumes maybe numbered. According to still another alternative embodiment, theidentification system may include a time-varying dye system, atime-varying paint system, or another known system for differentiatingbetween samples of ground material.

Referring next to the embodiment shown in FIG. 11, kinetic penetrator 10includes a transmission and retrieval system, shown as tether 90.According to one embodiment, tether 90 comprises a flexible andstructural member capable of removing at least a portion of kineticpenetrator 10 from below a ground surface. Such a structural member mayinclude a rope, cable, strap, thread, pipe, or tube, among othersuitable configurations, and may be manufactured (i.e. formed, braided,woven, etc.) from various known materials (e.g., Spectra® asmanufactured by Honeywell Corporation, a high strength polyethylene,Kevlar, carbon fiber, steel, another synthetic material, a nanotubestructure, etc.).

According to an alternative embodiment, tether 90 includes a flexibledata transmission line capable of sending and receiving signalinformation. By way of example, such a tether 90 may be used to retrieveinformation collected with kinetic penetrator 10. According to stillanother alternative embodiment, tether 90 may have structuralcharacteristics and data transmission capabilities. According to yetanother alternative embodiment, kinetic penetrator 10 may include aplurality of tethers 90 having any combination of structural and datatransmission capabilities.

As shown in FIG. 11, tether 90 includes a first end 92 configured to beextended (e.g., released, paid out, propelled, etc.) and a second endcoupled to another portion of kinetic penetrator 10. According to theembodiment shown in FIG. 11, the second end of tether 90 is coupled tobody 30. Coupling tether 90 to body 30 allows an operator to remove(i.e. pull out, retrieve, etc.) kinetic penetrator 10 from shaft 100.According to various alternative embodiments, the second end of tether90 may be coupled to a retrievable component (e.g., a storage volume) ormay be coupled to a processor or sensor, among other components ofkinetic penetrator 10. Coupling the second end of tether 90 to a portionof kinetic penetrator 10 allows an operator to retrieve such componentsfrom a shaft. Such recovery may be preferred to examine the groundmaterial within the storage volumes, to reuse at least a portion ofkinetic penetrator 10, or to remove kinetic penetrator 10 from anunderground volume, among other reasons.

Referring next to the embodiment shown in FIG. 12, a portion of kineticpenetrator 10 remains proximate ground surface 2 even after body 30travels through underground volume 4. Having a portion of kineticpenetrator 10 remain proximate ground surface 2 provides variousadvantages, such as facilitating the retrieval of one or more componentsof kinetic penetrator 10 and providing ground-level data communicationcapabilities, among others. As shown in FIG. 12, fins 40 are releasablycoupled to body 30 and interact with ground material proximate groundsurface 2. According to one embodiment, such interaction causes fins 40to separate from body 30 and become secured within the ground material.According to an alternative embodiment, kinetic penetrator 10 includes adifferent type of retaining component (e.g., plate, disk, hook, etc.)coupled to a portion of body 30 or fins 40 and configured to remainproximate ground surface 2 after body 30 travels through undergroundvolume 4. According to still another alternative embodiment, kineticpenetrator 10 does not include removably coupled fins or a differenttype of retaining component.

Referring next to the embodiments shown in FIGS. 12-13, severalcomponents may be used to extend tether 90 between a portion of kineticpenetrator 10 (e.g., body 30, compartment 160, etc.) and ground surface2. As shown in FIG. 12, the first end 92 of tether 90 is a loop disposedthrough an aperture within fin 40. According to one embodiment, fins 40are stripped off by impact and remain proximate ground surface 2 suchthat tether 90 is paid out as body 30 travels through underground volume4. Such a configuration allows an operator to later retrieve a component(e.g., body 30, nose 20, a storage volume, etc.) from shaft 100.According to an alternative embodiment, tether 90 is coupled to areleasable member (e.g., a surface drag device, an aerodynamic dragdevice, etc.) and to another portion of kinetic penetrator 10 (e.g.,body 30). A deployment mechanism is triggered (e.g., pre-impact with analtimeter or other device, upon impact with an impacted-triggeringdevice, etc.) to deploy the releasable member from kinetic penetrator10. In one embodiment, the releasable member is an aerodynamic dragdevice (e.g., a parachute, etc.), and an altimeter device triggers thedeployment mechanism to release the aerodynamic drag device when kineticpenetrator 10 is one hundred feet above ground surface 2.

According to the alternative embodiment shown in FIG. 13, first end 92of tether 90 is coupled to a post-impact tether deployment mechanism,shown as device 130. In some embodiments, device 130 is actuated afterkinetic penetrator 10 comes to rest within underground volume 4. Inother embodiments, device 130 is actuated as kinetic penetrator 10 istraveling through underground volume 4. Device 130 is a component thattravels (e.g., climbs, is propelled, etc.) from kinetic penetrator 10 toground surface 2. By way of example, device 130 may be a climbingmechanism that travels through underground volume 4 by interfacing withthe walls of shaft 100. As shown in FIG. 13, device 130 is a pyrotechnicdevice (e.g., a rocket) coupled to first end 92 of tether 90. Accordingto one embodiment, device 130 travels with body 30 through undergroundvolume 4 and is thereafter actuated (e.g., remotely actuated by anoperator, actuated after a period of time, actuated with analtimeter-based system, etc.) to bring first end 92 of tether 90 towardground surface 2. Device 130 thereby facilitates the retrieval of atleast a portion of kinetic penetrator 10.

According to one embodiment, kinetic penetrator 10 also includes aprocessing circuit, shown as module 150. As shown in FIG. 13, module 150is coupled (e.g., fastened, attached with isolators, suspended within,etc.) body 30. Such a module 150 is used to trigger (e.g., release,initiate, start, etc.) device 130. According to one embodiment, module150 is electrically, chemically, hydraulically, or pneumatically coupledto device 130.

Regardless of the system utilized to configure tether 90 in an extendedposition between body 30 and ground surface 2, various techniques may beutilized to remove a retrievable component (e.g., body 30, compartment160, compartments 400, another portion of kinetic penetrator 10, etc.).According to one embodiment, a user may manually retrieve the componentby pulling upward on first end 92 of tether 90. According to variousalternative embodiments, an operator may attach a winch and wind tether90 to bring the component to the surface or an operator may couple firstend 92 to a vehicle and move the vehicle away from shaft 100 therebycausing the component to rise within shaft 100. An operator may pull ontether 90 until the component becomes wedged within shaft 100.Thereafter, the operator may release the tension in tether 90 and againpull on tether 90. Such a process of a lack of tension followed by asudden pull resembles the operation of a hammer-drill and may facilitatethe retrieval of at least a portion of kinetic penetrator 10. Accordingto an alternative embodiment, the retrievable component includes amovable free mass coupled to tether 70. The movable free mass may slidewithin a portion of the retrievable component (e.g., a shell). Toretrieve the component, an operator may pull on tether 90 until theretrievable component is wedged within shaft 100 and thereafter releasethe tension in tether 90 such that the movable free mass moves (e.g.,drops down) relative to at least a portion of the retrievable component.Thereafter, the operator may again pull on tether 90 causing the movablefree mass to contact a portion of the retrievable component therebyproducing a hammer-drill action to facilitate extraction of theretrievable component.

According to one embodiment, the retrievable component includes anelement configured to facilitate the recovery of the retrievablecomponent from shaft 100. Such an element may include a portion of theretrievable component shaped to deflect subterranean in-fill from theshaft 100 created by the kinetic penetrator 10. Suitable shaped portionsinclude a pointed, domed, or another structure coupled to an upperportion of the retrievable component.

According to an alternative embodiment, the retrievable componentincludes a dispenser. Such a dispenser may release a fluid thatfacilitates the recovery of the retrievable component. According to oneembodiment, the fluid is compressed air stored within the retrievablecomponent. According to an alternative embodiment, the fluid is water ora lubricating substance that allows the retrievable component to moveupward through the in-fill within shaft 100. According to still anotheralternative embodiment, the retrievable component may include astructure (e.g., arm, blade, bit, etc.) that forces aside, drillsthrough, cuts, or otherwise engages the subterranean in-fill tofacilitate the recovery of the retrievable component.

Referring next to the embodiment shown in FIG. 14, kinetic penetrator 10includes a sampling device, shown as instrument 350 positioned within aretrievable component, shown as capsule 300. Such an instrument 350 mayfacilitate the exploration of an area of land by collecting (e.g.,storing onboard, sending to a storage center, sending to an operator,etc.) data about various aggregate, oil, gas, or other substances withinunderground volume 4. According to one embodiment, instrument 350monitors the acceleration of kinetic penetrator 10 as it travels throughunderground volume 4. Such acceleration data may be used to determinethe hardness of the aggregate, gas, oil, or other substances thatcomprise underground volume 4. According to an alternative embodiment,instrument 350 is at least one of a transmitter, a resonator, atransponder, and a receiver capable of detecting electromagnetic oracoustic signals associated with geophysical remote sensing. Such aninstrument 350 may send or interact with radio-frequency waves tocalibrate radar or synthetic aperture radar systems.

According to various alternative embodiments, instrument 350 may includea depth identifier to determine the corresponding depth for collectedsamples, a temperature sensor, a pressure sensor, a conductivitymeasurement system, a seismograph, a strain or displacement sensor, aradiation sensor, a metal detector, an infrared sensor, a camera, anx-ray fluorescent spectrometer, a neutron source, a communicationsystem, an acoustic transceiver, an electromagnetic transceiver, anavigation system, or a control system.

As shown in FIG. 14, capsule 300 may be coupled to a tether 90.According to one embodiment, such a tether 90 may facilitate theretrieval of capsule 300, instrument 350, or another portion of capsule300. According to an alternative embodiment, tether 90 transmits datasignals from instrument 350 to ground surface 2 or may power a portionof capsule 300, such as instrument 350 (e.g., with electrical energy,liquid fuel, solid fuel, etc.). According to one embodiment, tether 90is coupled to both body 30 and at least a portion of capsule 300 suchthat both body 30 and capsule 300 or a portion thereof may besimultaneously retrieved.

Referring still to the embodiment shown in FIG. 14, capsule 300 isinitially located within body 30. As shown in FIG. 14, kineticpenetrator 10 includes a cover, shown as door 302 that seals an aperturewithin the sidewall of body 30. According to one embodiment, kineticpenetrator 10 includes a driver, shown as deployer 304, that transfers(e.g., ejects, thrusts, moves, etc.) capsule 300 from within body 30into shaft 100 or underground volume 4.

As shown in FIG. 14, deployer 304 is a rocket-propelled system.According to an alternative embodiment, deployer 304 may be a hydraulicsystem, a pyrotechnic system, a pneumatic system, or an electricalsystem configured to propel capsule 300 from within body 30. Accordingto one embodiment, door 302 is rotatably coupled to body 30. Accordingto an alternative embodiment, door 302 includes a sliding mechanism, acover configured to disengage from body 30, or another interface capableof sealing and selectively opening an aperture within body 30. Such adoor 302 may be operated electronically with an actuator such thatcapsule 300 may be deployed at a preferred depth below ground surface 2.According to another alternative embodiment, capsule 300 may alsoinclude a driver configured to transport (e.g., propel, drive, move,etc.) at least a portion of capsule 300, instrument 350, a storagevolume, or a surface drag device coupled to a deployable tether upwardstowards ground surface 2. Where the driver transports a surface dragdevice towards ground surface 2, an operator may recover the surfacedrag device and retrieve at least a portion of capsule 300 by pulling itfrom shaft 100 with the tether. Such a driver may include a rocket,hydraulic, pneumatic, electrical, or other type of propulsion system.

According to an alternative embodiment, a housing of the capsule mayinclude a storage volume and a sampling tool having an edge coupled tothe storage volume and positioned around an aperture. Such a housing mayfacilitate the transfer of ground material into the storage volume forlater examination. By way of example, a housing having a storage volumemay be propelled (e.g., driven, transferred, etc.) with a driver fromthe body of the kinetic penetrator and into a corresponding portion ofthe underground volume. Such propulsion may occur at a preferred depthbelow the ground surface and may allow for directional (e.g., lateral,angled etc.) sampling relative to the primary shaft of the kineticpenetrator. A housing having a storage volume may also include a tethercoupled to at least one of the housing and the storage volume tofacilitate removing the sampled ground material from the undergroundvolume.

Referring again to the embodiment shown in FIG. 14, capsule 300 includesa retaining system, shown as surface drag device 360. Such a surfacedrag device 360 is configured to secure capsule 300 to a sidewall ofshaft 100 at a preferred depth below ground surface 2. As shown in FIG.14, surface drag device 360 includes a plurality of angled bars coupledto an outer surface of capsule 300. According to an alternativeembodiment, surface drag device 360 may include a deployed system suchas a plurality of explosively extending bars, a hook system, an adhesivedisposed around capsule 300, or another system configured to preventcapsule 300 from moving along a wall of shaft 100.

According to one embodiment, kinetic penetrator 10 includes a pluralityof capsules 300. Such capsules 300 may be deposited into a surface ofshaft 100 either at various different depths or may be releasedsimultaneously at a single depth. According to one embodiment, aplurality of kinetic penetrators 10 are deployed in an array. An arrayof kinetic penetrators 10 having capsules 300 allows for an operator tocollect data from multiple references at approximately the samehorizontal location. According to an alternative embodiment, variouskinetic penetrators each having a single capsule 300 may be employed atvarious penetration depths to similarly provide multiple references.

Referring next to the embodiment shown in FIGS. 15-17, kineticpenetrator 10 includes a retrieval facilitation system (e.g., protectivesheath, flexible tube, etc.), shown as guide hose 600. Such a guide hose600 may facilitate the retrieval of body 30, a compartment, or anothercomponent of kinetic penetrator 10 and may also prevent in-fill of theground material into the penetrator shaft. Retrieval of body 30 may befacilitated due to a decreased amount of friction between body 30 andguide hose 600 relative to the friction between body 30 and groundmaterial within an underground volume.

According to the embodiment shown in FIG. 15, guide hose 600 is aflexible, hollow tube configured to line the interior of shaft 100created by kinetic penetrator 10. According to one embodiment, guidehose 600 is manufactured from a sufficiently flexible and tough material(e.g., a nylon, synthetic, carbon fiber, etc.) to prevent tearing ofguide hose 600 or damage to a tether 90 positioned within guide hose600. Such a guide hose 600 may include an extending section that expandsalong shaft 100 to the penetration depth of kinetic penetrator 10. Theextending section of guide hose 600 may include a coil of material, aroll of material, or a ribbon of material. As shown in FIG. 15, guidehose 600 is coupled to an end of body 30 opposite nose 20. According toan alternative embodiment, guide hose 600 may be coupled to body 30proximate nose 20 or may be coupled to another portion of kineticpenetrator 10. Such a guide hose 600 may also envelop a capsule therebyfacilitating the retrieval of the capsule or an instrument.

According to the alternative embodiments shown in FIGS. 16-17, guidehose 600 is an extendable component. As shown in FIG. 16, guide hose 600is a bellows positioned within body 30. The bellows may extend therebyincreasing the length of guide hose 600. In some embodiments, aninflation system 610 increases the pressure within guide hose 600 (e.g.,to extend the bellows, to strengthen the walls of guide hose 600 andprevent crushing, etc.). Inflation system 610 may include a tank ofcompressed gas, a gas stored as a liquid, a chemical system, or anotherdevice. As shown in FIG. 17, guide hose 600 includes a plurality oftelescoping cylinders 620. The plurality of telescoping cylinders maysequentially extend from body 30 (e.g., due to catches, due to a taperedshape of the plurality of telescoping cylinders, etc.). The plurality oftelescoping cylinders 620 may be manufactured from a rigid material(e.g., metal) or a flexible material.

According to one embodiment, guide hose 600 is deployed simultaneouslywith tether 90. Such a guide hose 600 may envelop (i.e. surround,encases, etc.) tether 90. According to one embodiment, guide hose 600 isinitially located along an outer surface of body 30. According to analternative embodiment, guide hose 600 may be positioned within body 30or may be positioned in another location along kinetic penetrator 10.

According to an alternative embodiment, guide hose 600 deploysseparately from the tether 90. According to one embodiment, deploymentof guide hose 600 from body 30 is accomplished with an ejector. Theejector may include a ring or disk coupled to an end of guide hose 600and configured to interface with ground surface 2 such that guide hose600 extends as body 30 travels through underground volume 4. Accordingto an alternative embodiment, the ejector may include a propulsionsystem (e.g., rocket system, pneumatic system, hydraulic system,electrical system, etc.) that extends guide hose 600 towards groundsurface 2. Such an ejector may be controlled (e.g., operated, monitored,interfaced, etc.) with a control system configured to release guide hoseafter a preferred period of time, upon impact, upon receiving a remotesignal, or according to another control scheme.

Referring next to the embodiment shown in FIG. 18, the kineticpenetrator includes various components configured to interact with anexternal remote sensing system (e.g., a ground-penetrating radar,electric or magnetic field sensor, sonar or other acoustic sensor,etc.). According to one embodiment, the kinetic penetrator serves as areference point for ground penetrating radar systems, synthetic apertureradars, or acoustic signals. As shown in FIG. 18, the kinetic penetratorincludes a locator, shown as positioning system 700, and a secondarylocator, shown as inertial navigation system 710. The combined use ofpositioning system 700 and inertial navigation system 710 allows a userto know the location of body 30 to a high degree of accuracy.

As shown in FIG. 18, positioning system 700 may be coupled to a portionof body 30 and configured to determine the location of kineticpenetrator 10. Such a positioning system 700 may include a globalpositioning system or a differential global positioning system, amongother known location systems. According to one embodiment, kineticpenetrator 10 utilizes positioning system 700 until nose 20 impactsground surface 2. Thereafter, the position of kinetic penetrator 10 maybe determined by using inertial navigation system 710. According to oneembodiment, inertial navigation system 710 includes, among othercomponents, a processor, an accelerometer, and a gyroscope.

Referring still to the embodiment shown in FIG. 18, kinetic penetrator10 includes a tether 90 coupled to a portion of body 30. According to analternative embodiment, tether 90 is coupled to another component ofkinetic penetrator 10 (e.g., positioning system 700, inertial navigationsystem 710, etc.). As shown in FIG. 18, tether 90 is a datacommunication link between the components of kinetic penetrator 10located at a penetration depth (e.g., body 30, positioning system 700,inertial navigation system 710, etc.) and components of kineticpenetrator 10 located proximate ground surface 2. According to oneembodiment, the data communication link facilitates the transmission oflocation and timing data among the components of kinetic penetrator 10even after emplacement within underground volume 4.

According to the embodiment shown in FIG. 18, kinetic penetrator 10includes a data communication system, shown as transmitter 750.Transmitter 750 is configured to convey signals (e.g., radio waves,communicate with a satellite system, etc.) regarding a characteristic ofkinetic penetrator 10. Such characteristics may include the entrancehole location, the time of impact, and velocity profile of kineticpenetrator 10, among others. In some embodiments, a cable 93 couplestransmitter 750 with a sensor of kinetic penetrator 10. By way ofexample, the sensor may include an attitude sensor that measures theorientation or tilt of kinetic penetrator 10 before impact, whiletraveling through underground volume 4, or after it comes to rest. Inother embodiments, cable 93 couples transmitter 750 with a conductivitysensor (e.g., to determine whether kinetic penetrator 10 is in contactwith the subterranean material of underground volume 4, etc.), anaccelerometer (e.g., to determine the acceleration profile of kineticpenetrator 10, etc.) a temperature sensor, or still another component.Cable 93 may send and receive data between transmitter 750 and thesensor of kinetic penetrator 10 (i.e. data from the sensor may be sentalong cable 93 and conveyed by transmitter 750).

The location of kinetic penetrator 10 may be used by an operator (e.g.,a mining operation, a geographical exploration team, etc.) or as part ofa calibration system. By way of example, signals sent or received withtransmitter 750 may indicate the position or other characteristic ofkinetic penetrator 10 to an operator. In the embodiment shown in FIG.18, transmitter 750 is coupled to a component of kinetic penetrator 10that is configured to remain at or near ground surface 2 as body 30travels through underground volume 4 (e.g., a fin 40). In otherembodiments, transmitter 750 may be deployed from below ground surface 2while body 30 is traveling through underground volume 4 or after body 30comes to rest (e.g., with a pyrotechnic device, with a pneumatic device,etc.). In still other embodiments, transmitter 750 may be coupled to anaerodynamic drag device and deployed from kinetic penetrator 10 prior toimpact. Transmitter 750 positioned at or near ground surface 2 mayconvey signals more efficiently than a data communication systempositioned deeper within underground volume 4. By way of example,transmitter 750 may convey a data signal further than a datacommunication system positioned at the penetration depth of body 30.According to an alternative embodiment, transmitter 750 coupled to body30 or positioned within shaft 100.

As shown in FIG. 18, kinetic penetrator 10 includes a sensing element760. Sensing element 760 may be coupled to at least one of body 30 andnose 20. In one embodiment, sensing element 760 is positioned along anouter surface of the body 30. By way of example, sensing element 760 maybe disposed along an outer side surface of body 30 or at a tail end ofbody 30. In some embodiments, sensing element 760 is flush with theouter surface of body 30. Sensing element 760 may be configured tointerface with a power source. The power source may be a battery withinthe penetrator or an external power source connected to the penetratorvia the tether (e.g., the retrieval tether). The tether may include ametallic wire or an optical fiber. The tether may be configured to payout as nose 20 penetrates underground volume 4 thereby coupling sensingelement 760 with a power supply positioned at ground surface 2. In otherembodiments, the power source is configured to receive acoustic orelectromagnetic energy (e.g., from an acoustic signal, from anelectromagnetic signal, etc.).

Sensing element 760 may include an emitter configured to convey asensing signal, a detector (i.e. a sensor) configured to receive asensing signal, a transponder configured to receive a sensing signal andconvey a response signal (e.g., an active transponder, a passivetransponder, etc.), or a passive target (e.g., a pickup, a resonantdevice, a corner cube, etc.). Sensing element 760 may be used to as acomponent of an external multistatic geophysical sensing system (e.g., aground penetrating radar, a synthetic aperture radar, a magnetometer, amagnetometer array, a seismic sensor, a seismic array, an electric fieldsensor, an electric field sensor array, an acoustic sensor, and anacoustic sensor array, etc.). Sensing element 760 may be used to enableor enhance geophysical sensing capabilities or to calibrate thegeophysical sensing system. According to one embodiment, kineticpenetrator 10 may be used to calibrate reflection, attenuation, andrefraction properties of overlying material. A synthetic aperture radarsystem may rely on the reflection, refraction, and attenuationcharacteristics of various materials to identify and locate them withinan underground volume. According to an alternative embodiment, kineticpenetrator 10 interacts with a plurality of geophysical remote sensingsystems, such as ground penetrating radar and systems measuring seismicimpulses.

Referring to FIGS. 19-20, a plurality of kinetic penetrators 10 aredeployed as part of a multistatic geophysical sensing system. As shownin FIG. 19, kinetic penetrators 10 interact with a remote sensing system770. Remote sensing system 770 may include a ground-penetrating radar,an electric or a magnetic field sensor, a sonar or other acousticsensor, or still another device. In one embodiment, remote sensingsystem 770 conveys sensing signals 780 to sensing elements 760. Sensingelements 760 may include detectors that receive sensing signals 780. Asshown in FIG. 19, sensing elements 760 convey signals 782 to remotesensing system 770. By way of example, sensing elements 760 may includetransponders or passive targets that receive sensing signals 780 andconvey sensing signals 782. By way of another example, sensing elements760 may include emitters that convey sensing signals 782. According tothe embodiment shown in FIG. 19, sensing elements 760 send and receivesensing signals 784 between one another. In some embodiments, sensingelements 760 only receive sensing signals 780, only convey sensingsignals 782, only send or receive sensing signals 784, or send andreceive a combination of sensing signals 780, sensing signals 782, andsensing signals 784. While shown in FIG. 19 as positioned above groundsurface 2, remote sensing system 770 may be positioned below or atground surface 2, according to various embodiments.

As shown in FIG. 19, sensing element 760 travels with body 30 intounderground volume 4. Sensing element 760 positioned below groundsurface 2 may provide additional paths over which sensing is performed(e.g., by adding additional paths for a multipoint sensing system).Sensing element 760 may also add paths not otherwise available as partof the multipoint sensing system (e.g., from underground to a groundsurface, from a ground surface to an underground depth, from oneunderground location to another underground location, etc.). Suchcalibration and focusing is facilitated by sensing element 760, whichmay convey a sensing signal having specified characteristics (e.g.,frequency, amplitude, wavelength, polarization, angle, etc.).Characteristics of the received sensing signal may be compared to thoseof the sensing signal conveyed by sensing element 760 to form a profilefor the intervening material. According to one embodiment, thecomposition of the intervening material of underground volume 4 may bemeasured through the use of a kinetic penetrator having a storagevolume, as discussed above.

As shown in FIG. 20, a plurality of kinetic penetrators positionedwithin shafts 100 may interact with remote sensing system 770. In oneembodiment, the kinetic penetrators are positioned in a regular array.In other embodiments, the kinetic penetrators are irregularlypositioned. Remote sensing system 770 may itself be positioned within ashaft (e.g., a drill hole) and interact with the sensing elements of thekinetic penetrators. By way of example, a plurality of kineticpenetrators may be positioned (e.g., dropped, deployed, etc.), andremote sensing system 700 may be deployed within a drill hole. Use ofkinetic penetrators 10 reduces the number of drill holes needed tocalibrate a multistatic geophysical sensing system or directly evaluatea subterranean ground volume.

In one embodiment, sensing element 760 is an active point source (i.e.an emitter) that transmits sensing signals from below ground surface 2.Such sensing signals may include radio waves or acoustic waves, amongother types of waves. By way of example, the active point source may bean electromagnetic emitter, an acoustic emitter (e.g., a transducer), aseismic emitter, an electric field source, a magnetic field source, oran electrode for at least one of an electric field source and anelectric current source, among other alternatives. According to oneembodiment, body 30 includes a material that facilitates thetransmission of sensing signals. By way of example, body 30 may bepartially transmissive to electromagnetic radiation or acoustic energy,may include an insert that is at least one of polymeric and ceramic, ormay include a nonconductive material, among other alternatives.

In one embodiment, sensing element 760 includes a transducer. Thetransducer may be configured to convey a sensing signal as acousticwaves from a depth below ground surface 2. According to one embodiment,the transmission of acoustic sensing signals is facilitated by directcontact between the transducer and the surrounding material. Accordingto an alternative embodiment, a coupling fluid is positioned between thetransducer and the surrounding material to facilitate the transmissionof the acoustic sensing signal. The transducer may be shaped as adipole, loop, or slot and may transmit a fixed beam, a mechanicallysteered beam, or an electronically steered beam. According to analternative embodiment, sensing element 760 includes a plurality oftransducers. Such transducers may be arranged in at least one of adipole or cardioid.

According to one embodiment, the active point source includes an antennaconfigured to convey the sensing signal from below ground surface 2.Sensing element 760 may operate at a depth below ground surface 2 andtransmit a sensing signal through the surrounding material with theantenna. The antenna may be shaped as a dipole, loop, or slot and maytransmit a fixed beam, a mechanically steered beam, or an electronicallysteered beam. According to an alternative embodiment, sensing element760 includes a plurality of antennas. Such antennas may be arranged inat least one of a dipole or cardioid.

The sensing signals from sensing element 760 (e.g., radio waves from anantenna, acoustic waves from a transducer, reflected waves, etc.) may bereceived at a location above ground surface 2. By way of example, anoperator may position an antenna, microphone, or other device aboveground surface 2 to receive sensing signals from sensing element 760. Inother embodiments, the sensing signals are received by another device aspart of a geophysical sensing system (e.g., an antenna of a syntheticaperture radar system, another antenna, a ground penetrating radardevice, etc.). According to another embodiment, the sensing signals fromsensing element 760 are received by another device positioned belowground surface 2. A first sensing element 760 (e.g., an active pointsource) may convey a sensing signal (e.g., a signal having specifiedcharacteristics), and a second sensing element 760 (e.g., a detector, apassive point target, a transponder, etc.) may at least one of receiveand reflect the sensing signal from the first sensing element 760. Inone embodiment, first sensing element 760 includes a detector thatreceives a sensing signal from second sensing element 760. Secondsensing element 760 may be deployed as part of a second kineticpenetrator 10. By way of example, a plurality of kinetic penetrators 10may be deployed to send and receive sensing signals between one another.A plurality of kinetic penetrators 10 having sensing elements 760 may bedeployed to evaluate a characteristic (e.g., density, conductivity,etc.) of an intermediate ground volume. The plurality of sensingelements 760 may include various combinations of active point sources,passive point targets, or transponders, the plurality of sensingelements 760 forming a multistatic geophysical sensing system. Aprocessing circuit may evaluate the sensing signal from the firstsensing element 760 and the signal at least one of received andreflected by the second sensing element 760 to determine thecharacteristic of underground volume 4. The processing circuit may beused to conduct geophysical sensing or to calibrate an externalgeophysical sensing system.

According to one embodiment, sensing element 760 transmits a sensingsignal having a specified property (e.g., wavelength, frequency, animpulse, a chirp profile, etc.). The sensing signal may be a calibrationsignal designed to reduce at least one of an uncertainty and an error inan external geophysical sensing system. In another embodiment, thesensing signal is a measurement signal designed to facilitatemeasurement of underground volume 4. In some embodiments, the sensingsignal is a continuous wave having a specified frequency. In otherembodiments, the sensing signal includes a chirp waveform. The sensingsignal may have single or dual polarization in one or more directions,and the polarization may be linear or circular. According to oneembodiment, the sensing signal conveyed by sensing element 760 encodesdata. The data may include tagging information identifying the locationand time of transmission among other identifiers. Such a sensing element760 may convey a sensing signal periodically. According to oneembodiment, the sensing signal is encrypted (i.e. similar to passiveRFID tags). Such encryption may be fixed (i.e. a serial number),write-once (e.g., a position offset, written when the penetrator comesto rest), or variable (e.g., based on current temperature or localmoisture content).

According to one embodiment, the active point source includes aprocessing circuit having a memory. Data relating to a pre-programmedsensing signal for the active point source may be stored in the memory.According to an alternative embodiment, data relating to apre-programmed emission time is stored in the memory. By way of example,the data may relate to emitting the sensing signal every hour, at a settime each day, an emission interval (e.g., every two hours), or stillanother emission time.

The active point source may include a receiver (e.g., an electromagneticsensor, an acoustic sensor, a component configured to interface with amagnetic field, etc.) coupled to the processing circuit. A commandsignal may be conveyed to the receiver from a remote source (e.g., adevice at ground surface 2). The command signal may direct the activepoint source to transmit a particular sensing signal, retransmit asensing signal, or perform still another function. The processingcircuit may interpret the command signal and convey an emission signalto the emitter based on the command signal. Upon receiving the emissionsignal, the emitter may convey the sensing signal. The sensing signalmay include a characteristic (e.g., frequency, etc.) that varies basedupon the command signal. In one embodiment, the processing circuitconveys the emission signal upon receipt. In another embodiment, theprocessing circuit delays transmission of the emission signal (e.g., dueto an pre-programmed delay, etc.).

According to an alternative embodiment, sensing element 760 includes adetector (i.e. a sensor) that receives a sensing signal. The detectormay include an acoustic detector, a seismic detector, an electric fielddetector, a magnetometer, or an electrode for an electric field sensor,among other types of detectors. According to one embodiment, body 30includes a material that facilitates the reception of sensing signals.By way of example, body 30 may be partially transmissive toelectromagnetic radiation or acoustic energy, may include an insert thatis at least one of polymeric and ceramic, or may include a nonconductivematerial, among other alternatives.

In one embodiment, the detector includes a processing circuit having amemory. The processing circuit may be configured to analyze datarelating to the sensing signals received by the detector. In anotherembodiment, the processing circuit is configured to compress datarelating to the sensing signals. In still another embodiment, theprocessing circuit is configured to store data relating to the sensingsignals in the memory. The data may include the received signal itselfor a representation of the received sensing signal (e.g., a processedversion of the sensing signal, etc.). The detector may include a datacommunication device (e.g., a tether, an electromagnetic transmitter, anacoustic transmitter, etc.) coupled to the processing circuit. Theprocessing circuit may provide data relating to the sensing signalsreceived by the detector to the data communication device.

In one embodiment, the processing circuit is configured to determinewhether data relating to signals received by the detector fall within aspecified range. By way of example, data relating to sensing signalshaving a power (e.g., amplitude, etc.) that is outside of the specifiedrange (e.g., lower than a threshold value) may be discarded. By way ofanother example, data relating to abnormal sensing signals (i.e. datarelating to sensing signals that are outside the specified range) may beprovided to the data communication device. Such operation may conserveenergy by transmitting via the data communication device only data thatis unusual. The processing circuit may provide data to the datacommunication device in response to a command signal. The command signalmay be to send the data immediately, at a specified time, at a specifiedinternal, or according to still another schedule. In some embodiments,data not conveyed via the data communication device may be latercollected (e.g., physically by retrieving the memory, etc.).

In still other embodiments, sensing element 760 is a transponder (e.g.,an active transponder, a passive transponder, etc.) configured toreceive a sensing signal and thereafter convey a response signal havingknown characteristics. The response signal may be the same type ofsignal as the sensing signal and may include a series of time-referencedpulse waves. The response signal may facilitate the calibration of anexternal geophysical sensing system. In one embodiment, the responsesignal encodes data (e.g., a current time, a location of thetransponder, a system status, etc.). The external geophysical sensingsystem may use the sensing signal and the response signal to determineor verify a characteristic of the intervening ground material (e.g.,index of refraction, etc.).

The transponder may include an electromagnetic transponder, an acoustictransponder, or still another type of transponder. According to oneembodiment, body 30 includes a material that facilitates the receptionof sensing signals and the transmission of response signals. By way ofexample, body 30 may be partially transmissive to electromagneticradiation or acoustic energy, may include an insert that is at least oneof polymeric and ceramic, or may include a nonconductive material, amongother alternatives.

In one embodiment, the transponder includes a timing device configuredto delay the response signal. By way of example, the timing device maydelay the response signal a predetermined time interval (e.g., tenseconds, as measured in a difference of phase angle or otherwisemeasured, etc.). In one embodiment, an external geophysical sensingsystem conveys the sensing signal and receives the response signal fromthe transponder. The sensing signal may produce reflected signals uponinteraction with ground surface 2, underground volume 4, or still othermaterials. The timing device may facilitate differentiation by theexternal geophysical sensing system between reflected signals from theintervening materials and the response signal from the transponder.

In another embodiment, sensing element 760 is a passive point targetconfigured to reflect sensing signals sent by another device (e.g.,another sensing element 760, a transmitter of a ground penetrating radarsystem, a transceiver of a synthetic aperture radar system, etc.). Thepassive point target may be a radiofrequency resonator, an enhancedcross section reflector (e.g., a corner cube, etc.), or still anotherdevice. The passive point target may include resonators disposed along asurface of body 30 and arranged in a line array. According to oneembodiment, the resonators have a high cross section when exposed to aradio-frequency wave having a particular characteristic (e.g.,wavelength, incident angle, frequency, polarization, etc.). In someembodiments, the passive point target is configured to reflect sensingsignals having a wavelength that is longer than the diameter of body 30.

A passive point target may facilitate calibration for radar andsynthetic aperture radar systems. Waves emanating from a transceiver ofthe radar or synthetic aperture radar system may be reflected by thepassive point target. According to one embodiment, the passive pointtarget has characteristics that produce reflected waves with knowncharacteristics. The radar or synthetic aperture radar system may thencompare the actual received reflected wave with an expected receivedreflected wave to calibrate various parameters of the radar or syntheticaperture radar system.

According to an alternative embodiment, sensing element 760 isconfigured to interface with a magnetic field (e.g., as part of ageophysical sensing system, etc.). By way of example, the magnetic fieldmay be generated by a source (e.g., a device positioned above groundsurface 2, another sensing element 760 coupled to another kineticpenetrator 10 and positioned below ground surface 2, etc.). Sensingelement 760 may include a magnet (e.g., a permanent magnet, anelectromagnet, etc.) positioned within the magnetic field to calibrate amagnetic device (e.g., a magnetometer, etc.). Sensing element 760 mayinclude a driver (e.g., a linear actuator, a rotational actuator, amotor, etc.) configured to move the magnet within the magnetic fieldaccording to a known movement profile thereby producing a knownperturbation in the magnetic field. In another embodiment, sensingelement 760 includes a switch coupled to an electromagnet. The switchmay turn “on” and “off” the electromagnet or vary the strength of theelectromagnet, among other alternatives. The actuation of the driver,switch, or other device may be facilitated or controlled using aprocessor. The processor may include memory for storing actuationprograms for the driver, switch, or other device therein. In someembodiments, sensing element 760 includes pairs of magnets, the pairs ofmagnets forming a quadrapole.

According to still another alternative embodiment, kinetic penetrator 10applies an electric field across the underground volume 4. The electricfield may be used to determine a characteristic of the subterraneanground material (e.g., conductivity) or to calibrate a permeability orconductivity, among other alternatives. Such an electric field mayinclude a voltage applied between body 30 (e.g., positioned below groundsurface 2) and a conductor (e.g., a stake) positioned at or near groundsurface 2. In some embodiments, the conductor is deployed from body 30prior to impact (e.g., with an aerodynamic drag device, etc.). In otherembodiments, the conductor is deployed from body 30 upon impact, as body30 travels through underground volume 4, or after body 30 comes to rest.Such deployment may occur due to contact with the ground material, witha pyrotechnic device, with a pneumatic device, or with still anotherdevice. In other embodiments, kinetic penetrator 10 may apply anelectric field across two depths of underground volume 4 (i.e. theconductor may be located below ground surface 2). In still otherembodiments, a plurality of kinetic penetrators 10 are deployed, and anelectric field is applied across underground volume 4 between theplurality of kinetic penetrators 10.

According to one embodiment, sensing element 760 may be included withina retrievable component. In some embodiments, the retrievable componentis driven into underground volume 4 (e.g., after kinetic penetrator 10comes to rest, as kinetic penetrator 10 is traveling through undergroundvolume 4, etc.) with an ejector. The retrievable component may include asurface drag device to secure it within underground volume 4. Aretrieval system including a tether (e.g., tether 90) may be coupled tothe retrievable component, the tether facilitating recovery of theretrievable component from the subterranean ground volume. Such aretrievable component may allow an operator to retrieve data stored on amemory of sensing element 760 or sensing element 760 itself. Retrievalof sensing element 760 may reduce the costs associated with calibratinga geophysical sensing system by allowing for reuse of expensiveinstruments disposed therein.

In one embodiment, the retrieval system includes a surface drag devicecoupled to an end of the tether, and the retrievable component ispositioned along the length of the tether. The surface drag device maybe releasably coupled to body 30. In one embodiment, the tether pays outas the surface drag device separates from body 30 to position theretrievable component between ground surface 2 and body 30. Positioningthe retrievable component along the length of the tether may facilitatelocating sensing element 760 at a preferred depth below ground surface2. By way of example, the surface drag device may separate from body 30as kinetic penetrator 10 passes through ground surface 2, thereby payingout the tether and positioning sensing element 760 at a preferred depththat may be independent of the penetration depth of kinetic penetrator10. The surface drag device may include an interfacing portion to engagesurrounding material such that the surface drag device remains at ornear ground surface 2. In another embodiment, a propelling device ejectsthe surface drag device toward ground surface 2, thereby paying out thetether.

According to one embodiment, kinetic penetrator 10 includes a singlesensing element 760. According to the embodiment shown in FIG. 21,kinetic penetrator 10 includes a plurality of sensing elements 760. Aplurality of sensing elements 760 may further facilitate the calibrationof an external sensing system (e.g., a ground penetrating radar system,a synthetic aperture radar system, etc.). In another embodiment, theplurality of sensing elements 760 are used to evaluate a subterraneanground volume. As shown in FIG. 21, a single kinetic penetrator 10 maydeploy several sensing elements 760 at different depths, therebyincreasing the potential level of calibration or measurement without theintroduction of additional kinetic penetrators 10. In some embodiments,sensing elements 760 are deployed from kinetic penetrator 10 as body 30travels through underground volume 4. By way of example, sensingelements 760 may be driven into the surrounding subterranean groundvolume at various depths as body 30 travels through underground volume4. According to the embodiment shown in FIG. 21, sensing elements 760are coupled to, and thereby deployed with, tether 90. The plurality ofsensing elements 760 may interface with a remote sensing system (e.g., asynthetic aperture radar system), a local sensor, or with one another todetermine a characteristic of the surrounding ground volume. By way ofexample, a first sensing element 760 positioned at body 30 may includean active point source that conveys sensing signals toward a secondsensing element 760 deployed within underground volume 4. Comparison ofthe sensing signal transmitted by the first sensing element 760 with thesensing signal received by the second sensing element may facilitate thecharacterization of the underground volume 4.

According to one embodiment, various kinetic penetrators may bepositioned to form a sensor network. Such a sensor network may improvethe ability to calibrate radar and synthetic aperture radar systems ormay function as a multistatic geophysical sensing system. According toone embodiment, the sensor network includes various kinetic penetratorsarranged in a line or two-dimensional array. Such an array may serve asa reference grid for spatial calibration of various conventionalborehole radars operating in bistatic mode. According to an alternativeembodiment, transmitters, transponders, or receivers may communicatewith a sensing signal sent through the underground volume to form amodified sensing signal. Processing of the modified sensing signal(e.g., in a manner similar to synthetic aperture radar sensing systems)may provide location or identification information about aggregate, oil,gas, or other materials located within the underground volume.

It is important to note that the construction and arrangement of theelements of the systems and methods as shown in the embodiments areillustrative only. Although only a few embodiments of the presentdisclosure have been described in detail, those skilled in the art whoreview this disclosure will readily appreciate that many modificationsare possible (e.g., variations in sizes, dimensions, structures, shapesand proportions of the various elements, values of parameters, mountingarrangements, use of materials, colors, orientations, etc.) withoutmaterially departing from the novel teachings and advantages of thesubject matter recited. For example, elements shown as integrally formedmay be constructed of multiple parts or elements. It should be notedthat the elements and/or assemblies of the enclosure may be constructedfrom any of a wide variety of materials that provide sufficient strengthor durability, in any of a wide variety of colors, textures, andcombinations. The order or sequence of any process or method steps maybe varied or re-sequenced, according to alternative embodiments. Othersubstitutions, modifications, changes, and omissions may be made in thedesign, operating conditions, and arrangement of the preferred and otherembodiments without departing from scope of the present disclosure orfrom the spirit of the appended claims.

The present disclosure contemplates methods, systems, and programproducts on any machine-readable media for accomplishing variousoperations. The embodiments of the present disclosure may be implementedusing existing computer processors, or by a special purpose computerprocessor for an appropriate system, incorporated for this or anotherpurpose, or by a hardwired system. Embodiments within the scope of thepresent disclosure include program products comprising machine-readablemedia for carrying or having machine-executable instructions or datastructures stored thereon. Such machine-readable media can be anyavailable media that can be accessed by a general purpose or specialpurpose computer or other machine with a processor. By way of example,such machine-readable media can comprise RAM, ROM, EPROM, EEPROM, CD-ROMor other optical disk storage, magnetic disk storage or other magneticstorage devices, or any other medium which can be used to carry or storedesired program code in the form of machine-executable instructions ordata structures and which can be accessed by a general purpose orspecial purpose computer or other machine with a processor. Wheninformation is transferred or provided over a network or anothercommunications connection (either hardwired, wireless, or a combinationof hardwired or wireless) to a machine, the machine properly views theconnection as a machine-readable medium. Thus, any such connection isproperly termed a machine-readable medium. Combinations of the above arealso included within the scope of machine-readable media.Machine-executable instructions include, for example, instructions anddata, which cause a general-purpose computer, special purpose computer,or special purpose processing machines to perform a certain function orgroup of functions.

Although the figures may show a specific order of method steps, theorder of the steps may differ from what is depicted. Also two or moresteps may be performed concurrently or with partial concurrence. Suchvariation will depend on the software and hardware systems chosen and ondesigner choice. All such variations are within the scope of thedisclosure. Likewise, software implementations could be accomplishedwith standard programming techniques with rule-based logic and otherlogic to accomplish the various connection steps, processing steps,comparison steps, and decision steps.

What is claimed is:
 1. A retrievable kinetic penetrator, comprising: a tubular body having a first end and a second end; a nose coupled to the first end of the tubular body, wherein the nose is configured to penetrate a ground surface and subsurface materials of a subterranean ground volume; and a retrieval system including: a tether coupled to the tubular body, wherein the tether is configured to facilitate recovery of the tubular body from the subterranean ground volume; a surface drag device coupled to the tether and releasable coupled to the tubular body; and a propelling device configured to eject the surface drag device towards the ground surface.
 2. The retrievable kinetic penetrator of claim 1, further comprising a collector coupled to at least one of the nose and the tubular body.
 3. The retrievable kinetic penetrator of claim 2, wherein the tubular body includes a sample compartment configured to interface with the collector.
 4. The retrievable kinetic penetrator of claim 3, wherein the collector includes an edge configured to remove a ground sample from beneath the ground surface.
 5. The retrievable kinetic penetrator of claim 4, wherein the edge defines an aperture within a surface of the nose that is configured to receive a flow of material extracted from the subterranean ground volume.
 6. The retrievable kinetic penetrator of claim 4, wherein the edge is positioned on a side scoop that is coupled to a sidewall of the tubular body.
 7. The retrievable kinetic penetrator of claim 6, wherein the side scoop defines an aperture within the sidewall of the tubular body that is configured to receive a flow of material extracted from the subterranean ground volume.
 8. The retrievable kinetic penetrator of claim 6, wherein the collector includes a sample identifier configured to identify a corresponding depth for the sample compartment and a sample within the sample compartment.
 9. The retrievable kinetic penetrator of claim 8, wherein the sample identifier includes one of a color-coded compartment system, a time-varying dye system, and a time-varying paint system.
 10. The retrievable kinetic penetrator of claim 1, wherein the nose penetrates the subterranean ground volume to a specified depth that is greater than the length of the tubular body.
 11. A retrievable kinetic penetrator, comprising: a tubular body having a first end and a second end; a nose coupled to the first end of the tubular body, wherein the nose is configured to penetrate a ground surface and subsurface materials of a subterranean ground volume; a retrievable component positioned within the tubular body; and a retrieval system including: a tether coupled to the retrievable component, wherein the tether is configured to facilitate recovery of the retrievable component from the tubular body; a surface drag device coupled to the tether and releasable coupled to the tubular body; and a propelling device configured to eject the surface drag device towards the ground surface.
 12. The retrievable kinetic penetrator of claim 11, further comprising a collector coupled to at least one of the nose and the tubular body.
 13. The retrievable kinetic penetrator of claim 12, wherein the retrievable component includes a sample compartment configured to interface with the collector.
 14. The retrievable kinetic penetrator of claim 13, wherein the collector includes an edge configured to remove a ground sample from beneath the ground surface.
 15. The retrievable kinetic penetrator of claim 14, further comprising a propelling device positioned to drive the collector into the subterranean ground volume to collect the ground sample.
 16. The retrievable kinetic penetrator of claim 15, wherein the collector is positioned to extend laterally through a sidewall of the tubular body.
 17. The retrievable kinetic penetrator of claim 15, wherein the collector is positioned to extend from the nose along the length of the tubular body.
 18. The retrievable kinetic penetrator of claim 11, wherein the retrievable component comprises a capsule that includes an instrument disposed within a housing, wherein the instrument is configured to collect data about the subterranean ground volume.
 19. The retrievable kinetic penetrator of claim 18, wherein the instrument comprises one of a temperature sensor, a pressure sensor, a strain or displacement sensor, a radiation sensor, a metal detector, an infrared sensor, a camera, an x-ray system, a communication system, an acoustic transceiver, an electromagnetic transceiver, a navigation system, and a control system.
 20. The retrievable kinetic penetrator of claim 18, further comprising an ejector coupled to at least one of the tubular body and the nose, wherein the ejector drives the capsule into the subterranean ground volume.
 21. The retrievable kinetic penetrator of claim 18, wherein the capsule includes an edge defining an aperture in the surface of the capsule.
 22. The retrievable kinetic penetrator of claim 21, wherein the aperture is in fluid communication with a compartment positioned within the capsule.
 23. The retrievable kinetic penetrator of claim 18, wherein the tether is coupled to the capsule and at least a portion of the tubular body such that recovery of the tubular body likewise removes the capsule.
 24. A kinetic penetrator system, comprising: a tubular body having a first end and a second end; a nose coupled to the first end of the tubular body, wherein the nose is configured to penetrate a ground surface and subsurface materials of a subterranean ground volume; and a retrieval system including a tether coupled to at least one of the tubular body and a retrievable component; a protective sheath having an inner volume configured to receive the tether and an outer surface configured to reduce the prevalence of subterranean in-fill, wherein the protective sheath includes a bellows having a first end coupled to the tubular body and a second end configured to pay out; and a pressurizing device configured to inflate the bellows to facilitate reducing subterranean in-fill.
 25. The kinetic penetrator system of claim 24, wherein the protective sheath is formed by the kinetic penetrator as it passes through the subterranean ground volume.
 26. The kinetic penetrator system of claim 25, wherein the protective sheath comprises a material that is one of shaped, molten and then cooled, pliable, and soft.
 27. The kinetic penetrator system of claim 24, wherein the tether is located within the protective sheath to prevent ground material from damaging the tether.
 28. The kinetic penetrator system of claim 24, wherein the protective sheath deploys simultaneously with the tether.
 29. The kinetic penetrator system of claim 24, wherein the protective sheath includes a plurality of telescoping cylinders. 